Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach

W. E. Dixon; Z. P. Jiang; D. M. Dawson

doi:10.1016/S0005-1098(00)00099-6

Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach

W. E. Dixon, Z. P. Jiang, D. M. Dawson

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents a new differentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the differentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model.

Original language	English (US)
Pages (from-to)	1741-1746
Number of pages	6
Journal	Automatica
Volume	36
Issue number	11
DOIs	https://doi.org/10.1016/S0005-1098(00)00099-6
State	Published - Nov 2000

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/S0005-1098(00)00099-6

Cite this

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title = "Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach",

abstract = "This paper presents a new differentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the differentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model.",

author = "Dixon, {W. E.} and Jiang, {Z. P.} and Dawson, {D. M.}",

note = "Funding Information: This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor M. Tomizuka under the direction of Editor M. Araki. This work is supported in part by the U.S. NSF Grants DMI-9457967, CMS-9634796, ECS-9619785, DMI-9813213, EPS-9630167, DOE Grant DE-FG07-96ER14728, ONR Grant N0 0014-99-1-0589, and a DOC Grant. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.",

year = "2000",

month = nov,

doi = "10.1016/S0005-1098(00)00099-6",

language = "English (US)",

volume = "36",

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T2 - A Lyapunov approach

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AU - Jiang, Z. P.

AU - Dawson, D. M.

N1 - Funding Information: This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor M. Tomizuka under the direction of Editor M. Araki. This work is supported in part by the U.S. NSF Grants DMI-9457967, CMS-9634796, ECS-9619785, DMI-9813213, EPS-9630167, DOE Grant DE-FG07-96ER14728, ONR Grant N0 0014-99-1-0589, and a DOC Grant. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.

PY - 2000/11

Y1 - 2000/11

N2 - This paper presents a new differentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the differentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model.

AB - This paper presents a new differentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the differentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model.

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Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach

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